相关论文: Semantic Texture for Robust Dense Tracking

In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM…

Deep learning models as an emerging topic have shown great progress in various fields. Especially, visualization tools such as class activation mapping methods provided visual explanation on the reasoning of convolutional neural networks…

The availability of real-time semantics greatly improves the core geometric functionality of SLAM systems, enabling numerous robotic and AR/VR applications. We present a new methodology for real-time semantic mapping from RGB-D sequences…

The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…

Recent advances in image-level self-supervised learning (SSL) have made significant progress, yet learning dense representations for patches remains challenging. Mainstream methods encounter an over-dispersion phenomenon that patches from…

Attention models have recently emerged as a powerful approach, demonstrating significant progress in various fields. Visualization techniques, such as class activation mapping, provide visual insights into the reasoning of convolutional…

Crowd counting is an important task in computer vision, which has many applications in video surveillance. Although the regression-based framework has achieved great improvements for crowd counting, how to improve the discriminative power…

In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their visual features can be removed for localization and…

Accurate localization and mapping in outdoor environments remains challenging when using consumer-grade hardware, particularly with rolling-shutter cameras and low-precision inertial navigation systems (INS). We present a novel semantic…

Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…

Traditional attempts for loop closure detection typically use hand-crafted features, relying on geometric and visual information only, whereas more modern approaches tend to use semantic, appearance or geometric features extracted from deep…

This work presents a novel dense RGB-D SLAM approach for dynamic planar environments that enables simultaneous multi-object tracking, camera localisation and background reconstruction. Previous dynamic SLAM methods either rely on semantic…

Recovering structure and motion parameters given a image pair or a sequence of images is a well studied problem in computer vision. This is often achieved by employing Structure from Motion (SfM) or Simultaneous Localization and Mapping…

Disparity estimation is a difficult problem in stereo vision because the correspondence technique fails in images with textureless and repetitive regions. Recent body of work using deep convolutional neural networks (CNN) overcomes this…

Recent achievements in depth prediction from a single RGB image have powered the new research area of combining convolutional neural networks (CNNs) with classical simultaneous localization and mapping (SLAM) algorithms. The depth…

Convolutional neural networks (CNNs) show outstanding performance in many image processing problems, such as image recognition, object detection and image segmentation. Semantic segmentation is a very challenging task that requires…

Image captioning by the encoder-decoder framework has shown tremendous advancement in the last decade where CNN is mainly used as encoder and LSTM is used as a decoder. Despite such an impressive achievement in terms of accuracy in simple…

Visual simultaneous localization and mapping (SLAM) plays a critical role in autonomous robotic systems, especially where accurate and reliable measurements are essential for navigation and sensing. In feature-based SLAM, the quantityand…

According to experts, Simultaneous Localization and Mapping (SLAM) is an intrinsic part of autonomous robotic systems. Several SLAM systems with impressive performance have been invented and used during the last several decades. However,…

Multi-scale deep CNNs have been used successfully for problems mapping each pixel to a label, such as depth estimation and semantic segmentation. It has also been shown that such architectures are reusable and can be used for multiple…